more fusion interfaces

Schmluk · Schmluk · commit 14284158e599 · 2025-08-06T14:19:25.000+02:00
diff --git a/include/spark_dsg/traversability_boundary.h b/include/spark_dsg/traversability_boundary.h
@@ -338,10 +338,9 @@ struct Boundary {
      */
     void fuseBoundaryStates(
         const BoundarySide& other,
-        std::function<void(TraversabilityState, TraversabilityState&)> fuse_fn =
-            [](TraversabilityState from, TraversabilityState& to) {
-              fuseStates(from, to);
-            });
+        std::function<void(TraversabilityState, TraversabilityState&)> fuse_fn);
+
+    void fuseBoundaryStates(const BoundarySide& other, bool pessimistic = false);
   };
 
   BoundarySide side(Side side);
diff --git a/src/traversability_boundary.cpp b/src/traversability_boundary.cpp
@@ -481,6 +481,14 @@ void Boundary::BoundarySide::fuseBoundaryStates(
   }
 }
 
+void Boundary::BoundarySide::fuseBoundaryStates(const BoundarySide& other,
+                                                bool pessimistic) {
+  fuseBoundaryStates(other,
+                     [pessimistic](TraversabilityState from, TraversabilityState& to) {
+                       fuseStates(from, to, pessimistic);
+                     });
+}
+
 double& Boundary::coord(Side side) {
   switch (side) {
     case Side::BOTTOM:

Original file line number	Diff line number	Diff line change
`@@ -481,6 +481,14 @@ void Boundary::BoundarySide::fuseBoundaryStates(`
`481`	`481`	`}`
`482`	`482`	`}`
`483`	`483`
	`484`	`+void Boundary::BoundarySide::fuseBoundaryStates(const BoundarySide& other,`
	`485`	`+ bool pessimistic) {`
	`486`	`+ fuseBoundaryStates(other,`
	`487`	`+ [pessimistic](TraversabilityState from, TraversabilityState& to) {`
	`488`	`+ fuseStates(from, to, pessimistic);`
	`489`	`+ });`
	`490`	`+}`
	`491`	`+`
`484`	`492`	`double& Boundary::coord(Side side) {`
`485`	`493`	`switch (side) {`
`486`	`494`	`case Side::BOTTOM:`